Heat a large skillet over medium-high heat. Add the ground beef and diced onion, then cook for 6 to 8 minutes while breaking the beef into small pieces, until the meat is thoroughly browned and the onion is tender.

Drain only excess grease if necessary, leaving a small amount in the pan for flavor and moisture. Return the skillet to the heat, add the minced garlic, and cook for about 30 seconds.

Stir in the tomato paste, Worcestershire sauce, paprika, and black pepper. Cook for 1 minute so the tomato paste and spices become fragrant.

Add the seasoning packet and pasta from the Hamburger Helper box, along with the water or low-sodium beef broth and milk. Stir thoroughly to combine the ingredients.

Bring the mixture to a boil, then reduce the heat to medium-low. Cover or partially cover the skillet and simmer for the time printed on the box, usually 10 to 12 minutes, stirring every few minutes.

Check the pasta for tenderness before the full liquid is absorbed. Remove the skillet from the heat when the pasta is tender and the sauce still looks slightly loose, because it will thicken as it rests.

Stir in the shredded sharp cheddar cheese after removing the pan from the heat. Let the skillet stand for 2 to 3 minutes, then taste and add salt only if needed.